<!DOCTYPE html><html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en-us" lang="en-us" data-whc_version="24.1">
    <head><link rel="shortcut icon" href="oxygen-webhelp\template\resources/images/favicon.ico"/><link rel="icon" href="oxygen-webhelp\template\resources/images/favicon.ico"/><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><meta http-equiv="X-UA-Compatible" content="IE=edge"/><meta name="description" content=""/><meta name="copyright" content="(C) Copyright 2024"/><meta name="generator" content="DITA-OT"/><title>3.5 Rotor Position Estimation API Reference</title><!--  Generated with Oxygen version 24.1, build number 2022062014.  --><meta name="wh-path2root" content=""/><meta name="wh-toc-id" content="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED-d1956e1454"/><meta name="wh-source-relpath" content="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED.xml"/><meta name="wh-out-relpath" content="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED.html"/>
    <!-- Latest compiled and minified Bootstrap CSS -->
    <link rel="stylesheet" type="text/css" href="./oxygen-webhelp/lib/bootstrap/css/bootstrap.min.css"/>
    
    <link rel="stylesheet" href="./oxygen-webhelp/lib/jquery-ui/jquery-ui.min.css"/>
    
    <!-- Template default styles  -->
    <link rel="stylesheet" type="text/css" href="./oxygen-webhelp/app/topic-page.css?buildId=2022062014"/>
    
    
    <script src="./oxygen-webhelp/lib/jquery/jquery-3.5.1.min.js"></script>
    
    <script data-main="./oxygen-webhelp/app/topic-page.js" src="./oxygen-webhelp/lib/requirejs/require.js"></script>
<link rel="stylesheet" type="text/css" href="oxygen-webhelp/template/microchip.css?buildId=2022062014"/><link rel="stylesheet" type="text/css" href="oxygen-webhelp/template/notes.css?buildId=2022062014"/>
<script src="mchp-context-help.js"></script>
<link href="https://fonts.googleapis.com/css?family=Open+Sans:400,600,300" rel="stylesheet" type="text/css"/>
<script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js?config=TeX-MML-AM_CHTML" async="" type="text/javascript"></script>
    <script src="https://assets.adobedtm.com/6a72a357eb48/a636c708c7fe/launch-0b0023397020.min.js"></script><!-- Adobe Analytics -->
</head>

    <body id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED" class="wh_topic_page frmBody">
        <a href="#wh_topic_body" class="sr-only sr-only-focusable">
            Jump to main content
        </a>
        
        
        
        
        <header class="navbar navbar-default wh_header">
    <div class="container-fluid">
        <div class="wh_header_flex_container navbar-nav navbar-expand-md navbar-dark">
            <div class="wh_logo_and_publication_title_container">
                <div class="wh_logo_and_publication_title">
                    
                    <a href="index.html" class=" wh_logo d-none d-sm-block "><img src="oxygen-webhelp\template\resources/images/microchip.png" alt="MPLAB® Harmony 3 Motor Control &#xA;    "/></a>
                    <div class=" wh_publication_title "><a href="index.html">MPLAB® Harmony 3 Motor Control 
    </a></div>
                    
                </div>
                
                
            </div>

            <div class="wh_top_menu_and_indexterms_link collapse navbar-collapse" id="wh_top_menu_and_indexterms_link">
                
                
                
                
            </div>
        </div>
    </div>
</header>
        
        
         
        
        <div class=" wh_search_input navbar-form wh_topic_page_search search " role="form">
            
            
            
            <form id="searchForm" method="get" role="search" action="search.html"><div class="d-flex justify-contents-around"><div class="flex-grow-1"></div><div class="position-relative flex-grow-1"><input type="search" placeholder="Search " class="wh_search_textfield" id="textToSearch" name="searchQuery" aria-label="Search query" required="required"/><button type="submit" class="wh_search_button" aria-label="Search"><span class="search_input_text">Search</span></button></div><div class="align-self-center flex-grow-1 ml-2"></div></div></form>
            
            <div class="mchp-color-stripe-grid-container">
  <div class="mchp-main-bar mchp-orange-bar"></div>
  <div class="mchp-main-bar mchp-blue-bar"></div>
  <div class="mchp-main-bar mchp-green-bar"></div>
</div>
            
        </div>
        
        <div class="container-fluid" id="wh_topic_container">
            <div class="row">

                <nav class="wh_tools d-print-none navbar-expand-md" aria-label="Tools">
                    
                    <div data-tooltip-position="bottom" class=" wh_breadcrumb "><ol class="d-print-none"><li><span class="home"><a href="index.html"><span>Home</span></a></span></li><li><div class="topicref" data-id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8"><div class="title"><a href="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8.html"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3</ph>
Harmony QSpin API Reference</a></div></div></li><li class="active"><div class="topicref" data-id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED"><div class="title"><a href="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED.html"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5</ph>
Rotor Position Estimation API Reference</a></div></div></li></ol></div>
                    
                    
                    
                    <div class="wh_right_tools">
                        <button class="wh_hide_highlight" aria-label="Toggle search highlights" title="Toggle search highlights"></button>
                        <button class="webhelp_expand_collapse_sections" data-next-state="collapsed" aria-label="Collapse sections" title="Collapse sections"></button>
                        
                        
                        
                        
                        <div class=" wh_print_link print d-none d-md-inline-block "><button onClick="window.print()" title="Print this page" aria-label="Print this page"></button></div>
                        
                        <button type="button" id="wh_toc_button" class="custom-toggler navbar-toggler collapsed wh_toggle_button navbar-light" aria-expanded="false" aria-label="Toggle publishing table of content" aria-controls="wh_publication_toc">
                            <span class="navbar-toggler-icon"></span>
                        </button>
                    </div>
                    
                </nav>
            </div>
            
            <div class="row" style="margin-top: -1em;"><div class="col-lg-9 col-md-9 col-sm-12 offset-lg-3 offset-md-3 text-right border-bottom mb-1"><h2 class="text-dark header_title">
    </h2></div></div>
            
            
            <div class="wh_content_area">
                <div class="row">
                    
                        <nav id="wh_publication_toc" class="col-lg-3 col-md-3 col-sm-12 d-md-block d-none d-print-none" aria-label="Table of Contents Container">
                            <div id="wh_publication_toc_content">
		                        
                            	<div class=" wh_publication_toc " data-tooltip-position="right"><span class="expand-button-action-labels"><span id="button-expand-action" role="button" aria-label="Expand"></span><span id="button-collapse-action" role="button" aria-label="Collapse"></span><span id="button-pending-action" role="button" aria-label="Pending"></span></span><ul role="tree" aria-label="Table of Contents"><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11" class="topicref" data-id="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C.html" id="GUID-7BBD04D6-F959-4DB3-986C-62130FAEF07C-d1956e11-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">1</ph>
Introduction</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52" class="topicref" data-id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35.html" id="GUID-60DDB34A-7CBA-4DE1-814C-88D432196E35-d1956e52-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">2</ph>
Harmony QSpin - PMSM FOC</a></div></div></li><li role="treeitem" aria-expanded="true"><div data-tocid="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279" class="topicref" data-id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8" data-state="expanded"><span role="button" tabindex="0" aria-labelledby="button-collapse-action GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8.html" id="GUID-5D9A13C4-45FC-4744-B788-8853716E4AD8-d1956e279-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3</ph>
Harmony QSpin API Reference</a></div></div><ul role="group" class="navbar-nav nav-list"><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-722DD900-7015-4646-B69F-20C19A60A801-d1956e287" class="topicref" data-id="GUID-722DD900-7015-4646-B69F-20C19A60A801" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-722DD900-7015-4646-B69F-20C19A60A801-d1956e287-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-722DD900-7015-4646-B69F-20C19A60A801.html" id="GUID-722DD900-7015-4646-B69F-20C19A60A801-d1956e287-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.1</ph>
Application API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323-d1956e367" class="topicref" data-id="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323-d1956e367-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323.html" id="GUID-9305E76E-942D-44E6-9DD2-A6049ABE3323-d1956e367-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.2</ph>
Current Measurement API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334-d1956e455" class="topicref" data-id="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334-d1956e455-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334.html" id="GUID-29D06553-EE7F-4EDC-92DF-17C19EE36334-d1956e455-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.3</ph>
Field Oriented Control API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585-d1956e1357" class="topicref" data-id="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-ADE7881E-AEEB-4EDC-B439-356982B16585-d1956e1357-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585.html" id="GUID-ADE7881E-AEEB-4EDC-B439-356982B16585-d1956e1357-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.4</ph>
Rotor Position Calculation API Reference</a></div></div></li><li role="treeitem" aria-expanded="true" class="active"><div data-tocid="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED-d1956e1454" class="topicref" data-id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED" data-state="expanded"><span role="button" tabindex="0" aria-labelledby="button-collapse-action GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED-d1956e1454-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED.html" id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED-d1956e1454-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5</ph>
Rotor Position Estimation API Reference</a></div></div><ul role="group" class="navbar-nav nav-list"><li role="treeitem"><div data-tocid="GUID-0BA3B3DD-B3CF-40CB-999C-0D13BED79AFE-d1956e1462" class="topicref" data-id="GUID-0BA3B3DD-B3CF-40CB-999C-0D13BED79AFE" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-0BA3B3DD-B3CF-40CB-999C-0D13BED79AFE.html" id="GUID-0BA3B3DD-B3CF-40CB-999C-0D13BED79AFE-d1956e1462-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.1</ph>
mcRpeI_RotorPositionEstimInit</a></div></div></li><li role="treeitem"><div data-tocid="GUID-144FAB56-2319-4EC8-B7C4-49C9351A39D1-d1956e1470" class="topicref" data-id="GUID-144FAB56-2319-4EC8-B7C4-49C9351A39D1" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-144FAB56-2319-4EC8-B7C4-49C9351A39D1.html" id="GUID-144FAB56-2319-4EC8-B7C4-49C9351A39D1-d1956e1470-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.2</ph>
mcRpeI_RotorPositionReady</a></div></div></li><li role="treeitem"><div data-tocid="GUID-513B1473-8804-4954-A6A2-74A15B83D972-d1956e1478" class="topicref" data-id="GUID-513B1473-8804-4954-A6A2-74A15B83D972" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-513B1473-8804-4954-A6A2-74A15B83D972.html" id="GUID-513B1473-8804-4954-A6A2-74A15B83D972-d1956e1478-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.3</ph>
mcRpeI_RotorPositionEstimEnable</a></div></div></li><li role="treeitem"><div data-tocid="GUID-2D8E3700-A5FA-4894-B9E9-CB42E98374B0-d1956e1486" class="topicref" data-id="GUID-2D8E3700-A5FA-4894-B9E9-CB42E98374B0" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-2D8E3700-A5FA-4894-B9E9-CB42E98374B0.html" id="GUID-2D8E3700-A5FA-4894-B9E9-CB42E98374B0-d1956e1486-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.4</ph>
mcRpeI_ParametersSet</a></div></div></li><li role="treeitem"><div data-tocid="GUID-20614B72-FE37-4738-89D3-C0E4740BB4F4-d1956e1494" class="topicref" data-id="GUID-20614B72-FE37-4738-89D3-C0E4740BB4F4" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-20614B72-FE37-4738-89D3-C0E4740BB4F4.html" id="GUID-20614B72-FE37-4738-89D3-C0E4740BB4F4-d1956e1494-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.5</ph>
mcRpeI_RotorPositionEstim</a></div></div></li><li role="treeitem"><div data-tocid="GUID-6823E2B6-2607-45AA-96B7-A8A902E0A5EE-d1956e1502" class="topicref" data-id="GUID-6823E2B6-2607-45AA-96B7-A8A902E0A5EE" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-6823E2B6-2607-45AA-96B7-A8A902E0A5EE.html" id="GUID-6823E2B6-2607-45AA-96B7-A8A902E0A5EE-d1956e1502-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.6</ph>
mcRpe_RotorPostionOffsetCalc</a></div></div></li><li role="treeitem"><div data-tocid="GUID-37583C5E-D05D-4E96-8F6E-3C72BC407236-d1956e1510" class="topicref" data-id="GUID-37583C5E-D05D-4E96-8F6E-3C72BC407236" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-37583C5E-D05D-4E96-8F6E-3C72BC407236.html" id="GUID-37583C5E-D05D-4E96-8F6E-3C72BC407236-d1956e1510-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.7</ph>
mcRpeI_MechanicalSpeedGet</a></div></div></li><li role="treeitem"><div data-tocid="GUID-9F0534F6-7369-445E-960E-419575EB2399-d1956e1518" class="topicref" data-id="GUID-9F0534F6-7369-445E-960E-419575EB2399" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-9F0534F6-7369-445E-960E-419575EB2399.html" id="GUID-9F0534F6-7369-445E-960E-419575EB2399-d1956e1518-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.8</ph>
mcRpeI_MechanicalAngleGet</a></div></div></li><li role="treeitem"><div data-tocid="GUID-DAB212D4-35AC-4316-8B51-728B693A284C-d1956e1526" class="topicref" data-id="GUID-DAB212D4-35AC-4316-8B51-728B693A284C" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-DAB212D4-35AC-4316-8B51-728B693A284C.html" id="GUID-DAB212D4-35AC-4316-8B51-728B693A284C-d1956e1526-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.9</ph>
mcRpeI_ElectricalSpeedGet</a></div></div></li><li role="treeitem"><div data-tocid="GUID-D924D758-3530-47B1-B4B8-7D6D6362D28E-d1956e1534" class="topicref" data-id="GUID-D924D758-3530-47B1-B4B8-7D6D6362D28E" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-D924D758-3530-47B1-B4B8-7D6D6362D28E.html" id="GUID-D924D758-3530-47B1-B4B8-7D6D6362D28E-d1956e1534-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.10</ph>
mcRpeI_ElectricalAngleGet</a></div></div></li><li role="treeitem"><div data-tocid="GUID-2CC7C7AD-A0B2-4FEF-8B9A-E4C20268EFF4-d1956e1543" class="topicref" data-id="GUID-2CC7C7AD-A0B2-4FEF-8B9A-E4C20268EFF4" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-2CC7C7AD-A0B2-4FEF-8B9A-E4C20268EFF4.html" id="GUID-2CC7C7AD-A0B2-4FEF-8B9A-E4C20268EFF4-d1956e1543-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.11</ph>
mcRpeI_CarrierSignalInjection</a></div></div></li><li role="treeitem"><div data-tocid="GUID-6B99ABD1-D79A-48A3-9E4E-8454083A026B-d1956e1551" class="topicref" data-id="GUID-6B99ABD1-D79A-48A3-9E4E-8454083A026B" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-6B99ABD1-D79A-48A3-9E4E-8454083A026B.html" id="GUID-6B99ABD1-D79A-48A3-9E4E-8454083A026B-d1956e1551-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.12</ph>
mcRpeI_RotorPositionEstimReset</a></div></div></li><li role="treeitem"><div data-tocid="GUID-DC1BD475-C96E-44E6-8DF0-5C92AEC92844-d1956e1559" class="topicref" data-id="GUID-DC1BD475-C96E-44E6-8DF0-5C92AEC92844" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-DC1BD475-C96E-44E6-8DF0-5C92AEC92844.html" id="GUID-DC1BD475-C96E-44E6-8DF0-5C92AEC92844-d1956e1559-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.13</ph>
mcRpeI_RotorPositionEstimDisable</a></div></div></li><li role="treeitem"><div data-tocid="GUID-C0F33F98-171D-4E8B-8C1B-C038FB5FF19B-d1956e1567" class="topicref" data-id="GUID-C0F33F98-171D-4E8B-8C1B-C038FB5FF19B" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-C0F33F98-171D-4E8B-8C1B-C038FB5FF19B.html" id="GUID-C0F33F98-171D-4E8B-8C1B-C038FB5FF19B-d1956e1567-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.14</ph>
tmcRpe_TrackingLoopParams_s Struct</a></div></div></li><li role="treeitem"><div data-tocid="GUID-A09367B3-9AF4-4388-8AE9-15D50E3C8FF8-d1956e1575" class="topicref" data-id="GUID-A09367B3-9AF4-4388-8AE9-15D50E3C8FF8" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-A09367B3-9AF4-4388-8AE9-15D50E3C8FF8.html" id="GUID-A09367B3-9AF4-4388-8AE9-15D50E3C8FF8-d1956e1575-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.15</ph>
tmcRpe_State_s Struct</a></div></div></li><li role="treeitem"><div data-tocid="GUID-4ACA687D-C6F6-422A-ACE3-C5EE61947232-d1956e1583" class="topicref" data-id="GUID-4ACA687D-C6F6-422A-ACE3-C5EE61947232" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-4ACA687D-C6F6-422A-ACE3-C5EE61947232.html" id="GUID-4ACA687D-C6F6-422A-ACE3-C5EE61947232-d1956e1583-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.16</ph>
tmcRpe_Parameters_s Struct</a></div></div></li><li role="treeitem"><div data-tocid="GUID-22299CE3-D3BD-4E0A-A2E3-3D10749DE067-d1956e1591" class="topicref" data-id="GUID-22299CE3-D3BD-4E0A-A2E3-3D10749DE067" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-22299CE3-D3BD-4E0A-A2E3-3D10749DE067.html" id="GUID-22299CE3-D3BD-4E0A-A2E3-3D10749DE067-d1956e1591-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.17</ph>
tmcRpe_IPCParameters_s Struct</a></div></div></li><li role="treeitem"><div data-tocid="GUID-46094F12-D8C4-496E-9BBE-6F49A3C6C569-d1956e1599" class="topicref" data-id="GUID-46094F12-D8C4-496E-9BBE-6F49A3C6C569" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-46094F12-D8C4-496E-9BBE-6F49A3C6C569.html" id="GUID-46094F12-D8C4-496E-9BBE-6F49A3C6C569-d1956e1599-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.5.18</ph>
tmcRpe_HFIParameters_s Struct</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9-d1956e1607" class="topicref" data-id="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9-d1956e1607-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9.html" id="GUID-D3037FB0-D2D8-4DAD-8982-9C3653254BE9-d1956e1607-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.6</ph>
IPD API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4-d1956e1687" class="topicref" data-id="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4-d1956e1687-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4.html" id="GUID-B6A3C0CD-E527-48B2-A454-3F3CCE8AEAF4-d1956e1687-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.7</ph>
Voltage Measurement API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07-d1956e1743" class="topicref" data-id="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07-d1956e1743-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07.html" id="GUID-C4F47DBF-B88F-4147-A7D9-D8C69DFCEC07-d1956e1743-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.8</ph>
Hardware Abstraction API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC-d1956e1856" class="topicref" data-id="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC-d1956e1856-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC.html" id="GUID-A09E5182-84A4-40CB-9732-FE12DAC559EC-d1956e1856-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.9</ph>
Utilities API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556-d1956e2001" class="topicref" data-id="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-F3037440-0B95-4A3A-8BBC-61A03B757556-d1956e2001-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556.html" id="GUID-F3037440-0B95-4A3A-8BBC-61A03B757556-d1956e2001-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.10</ph>
Key Manager API Reference</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E-d1956e2042" class="topicref" data-id="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E-d1956e2042-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E.html" id="GUID-0FF51D48-63EA-4B3D-BACD-E664DD303B6E-d1956e2042-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">3.11</ph>
Typedefs And Constants API Reference</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164" class="topicref" data-id="GUID-42876005-92C2-4CC0-81FC-71368462D294" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-42876005-92C2-4CC0-81FC-71368462D294.html" id="GUID-42876005-92C2-4CC0-81FC-71368462D294-d1956e2164-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">4</ph>
Motor Control Development Kits and Boards</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180" class="topicref" data-id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62.html" id="GUID-CB69EAC9-E44C-42F1-8521-F40F4CE2BC62-d1956e2180-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">5</ph>
Motor Control Example Projects</a><div class="wh-tooltip"><p class="shortdesc"></p></div></div></div></li><li role="treeitem"><div data-tocid="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508-d1956e2241" class="topicref" data-id="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508.html" id="GUID-05FBE3B7-EA31-4FD0-BA88-715B91E2D508-d1956e2241-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">6</ph>
Microchip MPLAB® Harmony 3 Release Notes</a></div></div></li><li role="treeitem"><div data-tocid="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183-d1956e2250" class="topicref" data-id="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183" data-state="leaf"><span role="button" class="wh-expand-btn"></span><div class="title"><a href="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183.html" id="GUID-5AE41BEF-D04E-41F6-AA77-5469CF13B183-d1956e2250-link"><ph xmlns="http://www.oxygenxml.com/ns/webhelp/toc">7</ph>
License</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259" class="topicref backmatter backmatter_parent" data-id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-link" class="wh-expand-btn"></span><div class="title"><a href="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B.html" id="GUID-0FB3F908-88EE-45CE-94F5-E97AF9049C9B-d1956e2259-link">Microchip Information</a></div></div></li></ul></div>
		                        
                            </div>
                        </nav>
                    
                    
                    <div class="col-lg-9 col-md-9 col-sm-12" id="wh_topic_body">
                        <button id="wh_close_publication_toc_button" class="close-toc-button d-none" aria-label="Toggle publishing table of content" aria-controls="wh_publication_toc" aria-expanded="true">
                            <span class="close-toc-icon-container">
                                <span class="close-toc-icon"></span>     
                            </span>
                        </button>
                        
                        
                        <div class=" wh_topic_content body "><main role="main"><article role="article" aria-labelledby="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED__GUID-6BB21660-4D94-49B3-8FA9-7D31DD02C759">
    <h1 class="- topic/title title topictitle1" id="GUID-3E4B291B-E17C-47FD-B8B0-865F74C611ED__GUID-6BB21660-4D94-49B3-8FA9-7D31DD02C759" style="">3.5 Rotor Position Estimation API Reference</h1>
</article></main></div>
                        
                        
                        
                        
                        
                        
                    </div>
                    
                </div>
            </div>
            
            
            
        </div> 
        <footer class="navbar navbar-default wh_footer">
  <div class=" footer-container mx-auto ">
    <div class="footer">
  <div class="mchp-wh-footer">
    <div class="mchp-footer">
      <div class="mchp-footer-tier1">
        <div class="spacer"></div>
        <div class="mchp-footer-container">
          <div class="mchp-footer-links mchp-social-media-links">
            <div class="mchp-component-items">
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.facebook.com/pages/Microchip-Technology-Inc/20320981741" target="_blank">
                  <img class="cmp-image__image" alt="Microchip Facebook" src="oxygen-webhelp/template/resources/images/201016-corp-facebook.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.linkedin.com/company/microchip-technology" target="_blank">
                  <img class="cmp-image__image" alt="Microchip LinkedIn" src="oxygen-webhelp/template/resources/images/201016-corp-linkedin.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://twitter.com/MicrochipTech" target="_blank">
                  <img class="cmp-image__image" alt="Microchip Twitter" src="oxygen-webhelp/template/resources/images/201016-corp-twitter.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.youtube.com/user/MicrochipTechnology" target="_blank">
                  <img class="cmp-image__image" alt="Microchip YouTube" src="oxygen-webhelp/template/resources/images/201016-corp-youtube.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.instagram.com/microchiptechnologyinc/" target="_blank">
                  <img class="cmp-image__image" alt="Microchip Instagram" src="oxygen-webhelp/template/resources/images/201016-corp-instagram.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.weibo.com/microchiptech" target="_blank">
                  <img class="cmp-image__image" alt="Microchip Weibo" src="oxygen-webhelp/template/resources/images/201016-corp-weibo.png"/>
                </a>
              </div>
              <div class="mchp-component-item">
                <a class="cmp-image__link" href="https://www.microchip.com/en-us/about/blog" target="_blank">
                  <img class="cmp-image__image" alt="Microchip Blog" src="oxygen-webhelp/template/resources/images/201016-corp-blog.png"/>
                </a>
              </div>
            </div>
          </div>
          <div class="mchp-footer-links">
            <div class="mchp-component-items">
              <div class="mchp-component-item">
                <div class="link">
                  <a href="https://www.microchip.com/about-us/contact-us" class="mchp-link__link">Contact</a>
                  <span class="mchp-link__separator">|</span>
                </div>
              </div>
              <div class="mchp-component-item ">
                <div class="link">
                  <a href="https://www.microchip.com/en-us/about/legal-information" class="mchp-link__link">Legal</a>
                  <span class="mchp-link__separator">|</span>
                </div>
              </div>
              <div class="mchp-component-item ">
                <div class="link">
                  <a href="https://www.microchip.com/en-us/about/legal-information/privacy-policy" class="mchp-link__link">Privacy Policy</a>
                  <span class="mchp-link__separator">|</span>
                </div>
              </div>
              <div class="mchp-component-item ">
                <div class="link">
                  <a href="https://www.microchip.com/en-us/about/legal-information/microchip-cookie-statement" class="mchp-link__link">Cookies</a>
                  <span class="mchp-link__separator">|</span>
                </div>
              </div>
              <div class="mchp-component-item">
                <div class="link">
                  <a href="https://careers.microchip.com/" class="mchp-link__link">Careers</a>
                  <span class="mchp-link__separator"></span>
                </div>
              </div>
            </div>
          </div>
          <div class="mchp-footer-newsletter">
            <div class="cmp-text">
              <p>Stay on the leading edge with our blog</p>
            </div>
            <div class="mchp-button-wrapper">
              <a role="button" href="https://www.microchip.com/en-us/about/blog" class="mchp-button mchp-button-regular solid">
                <span class="mchp-button__span">MicroSolutions</span>
              </a>
            </div>
          </div>
        </div>
        <div class="graphic">
          <img src="oxygen-webhelp/template/resources/images/footer-graphic.png"/>
        </div>
      </div>
      <div class="mchp-footer-tier2">
        <p class="mchp-copyright">© Copyright 1998-2022 Microchip Technology Inc. All rights reserved.</p>
      </div>
    </div>
  </div>
  <!-- Global site tag (gtag.js) - Google Analytics -->
  <script async="true" src="https://www.googletagmanager.com/gtag/js?id=UA-2724382-19"></script>
  <script>
    window.dataLayer = window.dataLayer || [];  
    function gtag(){dataLayer.push(arguments);}  
    gtag('js', new Date());   
    gtag('config', 'UA-2724382-19');
  </script>
  
  <script type="text/javascript">_satellite.pageBottom();</script><!-- Adobe Analytics -->
  <script type="text/javascript" src="mchp-js/prepend.js"></script><!-- Package for viewing PDFs on mobile devices -->
  
</div>
  </div>
</footer>
        
        <div id="go2top" class="d-print-none">
            <span class="oxy-icon oxy-icon-up"></span>
        </div>
        
        <div id="modal_img_large" class="modal">
            <span class="close oxy-icon oxy-icon-remove"></span>
            <div id="modal_img_container"></div>
            <div id="caption"></div>
        </div>
        
        
        
       
        </body>
</html>